Control a Motor and read a AB Encoder using STM32 MCU.

• Software: Robot Operating System and LibSerial.

• Version: kinetic, melodic, noetic.

$ sudo apt-get install -y libserial-dev

$ cd <catkin_workspace>/src

$ git clone https://github.com/qaz9517532846/stm32_dcmotor_serial.git

$ cd ..

$ catkin_make

$ roslaunch stm32_dcmotor_serial stm32_dcmotor.launch

$ rosrun stm32_dcmotor_serial STM32_DCMotor_client <duty>

• Serial_Port(type: string, default: "/dev/ttyACM0") : Serial Comunication with device(ex. Arduino, STM32, Renesas, Linkit board and MCU).

• Baund_rate(type: int, default: 115200): setting device baund rate.

• character_size(type: int, default: 8): setting device character size.

• stop_bits(type: int, default: 1): setting device stop bits.

• parity(type: int, default: 0): setting device parity.

  • 1 is even.

  • 2 is odd.

  • 3 is none.

• flow_control(type: int, default: 1): setting device flow control.

  • 0 is none.

  • 1 is hardware.

• pulse_resoution(type: int, default: 512): 512p/r

Demo Video

[1]. LibSerial. https://github.com/crayzeewulf/libserial

[2]. STM_DCMotor_Encoder. https://github.com/qaz9517532846/STM_DCMotor_Encoder

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Copyright © 2021 ZM Robotics Software Laboratory.